Hey y’all I am a technician at an automotive manufacturing plant and I am trying to correctly create a tcp for a spot welding gun using the 6 point method on an ABB irc 5 robot. I can’t figure out how to correctly orient the robot to make the tcp accurate. After I definite it, and try to move in reorient the gun does not angle correctly. Can anyone help me out with this issue? Thanks!
Help With creating a TCP on ABB Spot welding Gun
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Imperialsoull -
April 22, 2023 at 3:33 PM -
Thread is Unresolved
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Fubini
April 22, 2023 at 3:57 PM Approved the thread. -
There is good TCP information in the Spot Options manuals and the IRC5 Operating manuals. Which version BaseWare is this IRC5 using?
Is the gun stationary or mounted on the robot?
It's useful to know the type of gun (X, C, ...) and if it uses air/mechanical or software compensation.
Are you using a fixed reference point in the cell or temporary pointer?
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It is a c gun I believe, and it is servo powered so I assume it uses software compensation. I am using a fixed reference point in the cell we have a tcp block that bolts onto the fixture that has a block with a divot in it for the cap seat into when teaching the tcp. It’s using robotware 6.08.00 currently
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Did you teach the X and Z elongator with the same gun orientation? They must be the same orientation. For this reason I often teach the 4th point, then X and Z elongator first. Yes, pro tip, you don't have to teach them starting with 1 through 4.
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Ahh I see, so let me clarify I guess, the z and x elongators are not an issue for me but I do not know how to teach the 2 3 and 4 points. I get that the first point is the normal orientation of the gun and the x and z elongators are just a linear movement from the first point. I can’t figure out how to teach the other 3 points to set up the orientation angles though
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NO, the 4th point should be taught "normal" if you will. I always make it parallel with world x or Y, with the fixed tip up in Z. Then teach X and Z elongators. Go back to 1, 2, and 3. They don't have to be in any particular orientation. If you can, try to divide the approach position like 3 slices of a pie. 120 degrees apart, and reorient however possible.
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Skooter Could you clarify on the spot options manuals? When i look for that specific manual i can't find it.
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